WO2008064381A2 - Procédé permettant de faire fonctionner une liaison de communication sans fil entre un appareil de commande manuel mobile et une commande de machine, et composants correspondants du système - Google Patents

Procédé permettant de faire fonctionner une liaison de communication sans fil entre un appareil de commande manuel mobile et une commande de machine, et composants correspondants du système Download PDF

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Publication number
WO2008064381A2
WO2008064381A2 PCT/AT2007/000525 AT2007000525W WO2008064381A2 WO 2008064381 A2 WO2008064381 A2 WO 2008064381A2 AT 2007000525 W AT2007000525 W AT 2007000525W WO 2008064381 A2 WO2008064381 A2 WO 2008064381A2
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WO
WIPO (PCT)
Prior art keywords
data
radio
handheld terminal
information
operating
Prior art date
Application number
PCT/AT2007/000525
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German (de)
English (en)
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WO2008064381A8 (fr
WO2008064381A3 (fr
Inventor
Werner Schwarz
Jürgen Hofer
Original Assignee
Keba Ag
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Keba Ag filed Critical Keba Ag
Priority to DE112007002876T priority Critical patent/DE112007002876A5/de
Publication of WO2008064381A2 publication Critical patent/WO2008064381A2/fr
Publication of WO2008064381A3 publication Critical patent/WO2008064381A3/fr
Publication of WO2008064381A8 publication Critical patent/WO2008064381A8/fr

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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C25/00—Arrangements for preventing or correcting errors; Monitoring arrangements
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C2201/00—Transmission systems of control signals via wireless link
    • G08C2201/50—Receiving or transmitting feedback, e.g. replies, status updates, acknowledgements, from the controlled devices
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C2201/00—Transmission systems of control signals via wireless link
    • G08C2201/60—Security, fault tolerance
    • G08C2201/63—Redundant transmissions

Definitions

  • the invention relates to a method for the wireless data connection of a mobile handheld terminal for the delivery of control commands and for the output of information to the controller of a controllable technical device, as described in claim 1.
  • the subject invention further relates to a system according to claim 13, consisting of a mobile handheld terminal and a corresponding radio data-coupled machine control for a controllable technical device, a machine tool, a system or a technical process, and a mobile handheld terminal according to claim 29 and a programmable machine control according to Claim 41.
  • a mobile handheld terminal sometimes also referred to as a mobile operating and monitoring device, is to be understood in the context of this document as a mobile, in particular portable operator control and monitoring device for the visualization of general process data, machine and operating conditions, as well as for or output of general textual or graphical information and occasionally also of multimedia content, as well as for the operation of machines, robots or other technical equipment, controllable devices and processes.
  • a mobile hand-held device often, but not necessarily, has a high-resolution color display for sophisticated visual output of information and images.
  • such a hand-held operating device comprises input means, such as e.g.
  • the display can also be equipped with a so-called touch screen for user input in order to enable flexible, powerful and graphically oriented user communication.
  • these handheld terminals have one or more processors and storage means and interfaces for data connection to a machine control.
  • processors and storage means and interfaces for data connection to a machine control.
  • At Speaking powerful handhelds come well-known and commercially available operating systems such as Windows CE or appropriately adapted versions of Linux or similar used.
  • Control commands in so-called special modes of a machine are suitable.
  • a machine such as a robot
  • the operator is in the immediate influence and danger zone of the machine during such special operating modes, ie within a protective fencing. Any potentially hazardous machine function is performed only then and only so long, if and as long as the operator releases this function by the operation of a special safety switching element, namely a so-called enabling button.
  • the enabling button is designed according to special safety guidelines switching element and usually three-stage and two-channel.
  • An operating mode selector switch or key switch may also be designed as a special safety switching element, and e.g. be built redundantly two-circuit and the operating state of two channels redundant detected and transmitted to the controller or the safety circuit of the machine.
  • the data technology coupling to the control of a machine is wireless, in particular via a radio link. This ensures optimum freedom of movement for the user while using the handheld terminal.
  • any proprietary methods, frequencies and protocols are out of the question for the radio-technical connection of a mobile hand-held terminal, since the individual authorizations required in each case would represent an unacceptably high effort or would not be achievable at all.
  • cost-effective and principally usable radio standards are therefore for example WLAN (Wireless LAN) and BlueTooth as well as DECT, Zigbee or similar in question. All of these standard technologies have strengths and weaknesses and in the future will experience considerable or more or less massive, downward-compatible further developments.
  • the transmission of the safety critical signals and information from the safety switching elements over non-wired links requires a cyclic, i. quasi-continuous monitoring of an intact connection with corresponding real-time requirements, i. maximum permissible transmission delays. While a brief interruption in the transmission of general data or visualization data usually results in only a noncritical delay in image build-up, the interruption of the transmission of security data causes significant functional disturbances. If the connection is interrupted or delayed, the transmission of a data packet with such safety-related information, this is detected by a monitoring device on the machine control or part of the machine control and must be considered there as a defect or unsafe operating condition. But this means that the system must be shut down immediately.
  • the personal safety of the system is ensured, however, leads to a poor wireless connection to an unacceptable operational reliability and the unacceptable frequency of unwanted interruptions in operation with correspondingly high costs. Since the safety of people in the value above the protection of the system In the event of such safety-related emergency shutdowns, the interruption of ongoing processes may even result in damage to the plant or workpieces or at least because of the interruption to quality problems in series production (interruption of production cycles, deviating production parameters in the restart phase).
  • this solution takes into account only the safety-technically relevant requirements of the handheld terminal, such as the two-channel detection and transmission of the operating states of the safety switching elements, but not the same existing requirements for a broadband data link to the machine control or even to the general network infrastructure Site with numerous communication participants for the transmission of large amounts of data for a powerful visualization or for multimedia applications.
  • the safety data are provided in the handheld terminal by separate evaluation circuits, which record the switching states of the safety switching elements in multiple circuits, check them and provide them with appropriate test information.
  • At the other end of the transmission path at the machine control, correspondingly assigned circuits are provided, which receive the security data intended for them, check their authenticity and feed them into the safety circuit of the machine in a suitable form.
  • these evaluation circuits are diverse, so realized with different technical means, so that when a certain error occurs in the evaluation circuit of one of the circles of the other circle does not have this error and thus a loss of security does not occur. This method is described both in WO 2006/000264 and in other publications and safety standards and is well known.
  • the security i. the safe stopping of the machine is ensured exclusively by the evaluation circuits and the correspondingly associated receiving circuits. Misguided, manipulated, delayed, or missing security information causes the receiving circuits to shut down the machine.
  • the safety data must normally be read by the evaluation circuits and transmitted by the main processor to the radio module.
  • the reaction or delay time of the main processor added, which can be quite significant depending on the operating system used.
  • the delay time can also be affected by various user programs running on the handheld terminal, which the actual manufacturer of the handheld terminal does not influence and can hardly foresee.
  • the main processor is next to the display one of the main energy consumers in a mobile handheld device, so that this circumstance is at the expense of the available battery life.
  • An object of the invention is therefore to provide a method for reliable and efficient wireless connection of a mobile handheld to the control of a controllable technical device via radio, taking into account real-time requirements or time priorities for the transmission of commands and security signals for immediate and quasi delay-free influencing the controlled technical facility.
  • Another object of the invention is to provide a mobile handheld terminal, a machine control and a system for carrying out the method.
  • two technically independent radio links are operated in parallel for the communication between the mobile hand-held operating device and the machine control, and the data for transmission are separated into a part or a class with high-priority information, including the safety information, and into a remaining one Part or a class with lower-priority information, including the visualization data. All high-priority data is transmitted exclusively over one of the two radio links, while the lower-priority data is transmitted over the second radio link.
  • both radio links are in common use.
  • the high-priority control commands and safety data and the low-priority but extensive visualization data sometimes have different origins and different goals in the handheld terminal, namely the special safety evaluation circuits and the main processor with the operating system and the application program.
  • the critical assembly and separation of the data streams under consideration The different priorities are made unnecessary by the separate transmission links. Furthermore, when concatenating several technologically different data paths, any problems with different priorities in implementing the protocols are largely avoided.
  • This solution according to the invention allows the use of the standard protocols and standard drivers for the individual radio links and does not require any application-specific and error-critical adaptations. On the one hand, development costs are saved, risks are avoided, and on the other hand, various providers of radio technologies can alternatively and quickly be integrated into a product line.
  • WLAN can be used for the broadband transmission of general data, visualization data or multimedia information and a comparatively more robust but slower BlueTooth connection for the smaller amount of high-priority command and safety data.
  • the different common performance classes of handheld terminals differ in addition to the number and features of the controls mainly in their capabilities for visualization, the display size and the complexity of the representations, the processor power and the memory size and finally in the amount of data to be transmitted by the machine control.
  • the scope of safety data and direct control command data, as well as the reliability requirements for their transmission are broadly similar across all power classes.
  • the two completely separate radio links can also be used for redundant transmission of certain information or for plausibility checks, so that about a temporary disturbance on one of the radio links unwanted interruption or safety shutdown of the machine is prevented or when establishing the radio connection to a particular machine control, which is selected from a plurality of possible machine controls, the risk of erroneous assignment is reduced.
  • the reliability of operation can be increased.
  • the separate radio link eliminates the passing through of the security data by the main processor of the handheld terminal, whereby an additional delay of the main processor in the transmission is generally eliminated.
  • the main processor can advantageously also be transposed into a power-saving mode only temporarily and can nevertheless continue to transmit the safety data without interruption and maintain the connection to the machine control. This reduces the Energy consumption of the handheld terminal and increases according to the battery life or it can be used a battery with lower capacity and thus lower weight, which in turn is beneficial to the ergonomics of the handheld.
  • the advantageous method according to claim 2 ensures that the actuation states of input means and thus the corresponding control commands for immediate execution by the controlled technical device are transmitted and executed quickly and without unacceptable delay. As a result, adjustments under the immediate visual control by the operator are much easier and overshooting an actually desired target point by delayed command transmission is avoided.
  • the advantageous method according to claim 3 ensures that the actuation states of the safety switching elements are transmitted with high priority and undisturbed by a parallel transmission of broadband data to the controlled technical device. While safety is mainly guaranteed by continuous monitoring of the upright communication connection between the handheld terminal and the controller and an interruption to the immediate shutdown of the system leads, this advantageous embodiment ensures that the security data are preferred and particularly reliable transmitted to the controller, causing the problem of unwanted emergency shutdown is alleviated by a transmission delay.
  • the configuration of the method according to claim 4 or claim 5 ensures that usually extensive data, which require a data channel with high transmission bandwidth, but on the other hand have no particularly high temporal priority, are not transmitted together with high-priority data and thus the reliable and timely Transmission of high-priority data.
  • the method according to claim 6 increases the transmission reliability and usually also the achievable transmission bandwidths of the two radio transmission links used. In this case, for example, for the communication according to the radio standards used available frequency bands, time slots or transmission power can be optimally divided according to the required bandwidth and priority between the two radio transmission links.
  • the method according to claim 7 increases the transmission reliability analogous to claim 6, but with the objective of an optimal transmission power of the first radio transmission path for the high-priority data, optionally at the expense of the transmission power on the second radio transmission path.
  • the advantageous embodiment of the method according to claim 8 takes into account in particular the fact that the automatic transmission of radio communication with some very high transmission power send out general data telegrams to potential radio stations and thus other operated nearby radio links can be temporarily affected.
  • the pairing of the handheld terminal and machine control takes place only via one of the two radio transmission links, while the suitable addresses and parameters for the other radio transmission path are exchanged via the previously established connection.
  • the fact is taken into account that the high-priority data have only a limited validity and are therefore continuously updated and transmitted to the machine control. In the case of a transmission error, however, this makes no sense in retransmitting the incorrectly transmitted data telegram. Instead, the next telegram is simply transmitted with updated data. The current data thus arrive faster to the receiver, as in a repetition of the erroneous data telegram.
  • the embodiment of the method according to claim 10 makes it possible to ensure that no obsolete control commands and security information are processed and thus unwanted functions are triggered or dangerous operating states are brought about.
  • the advantageous embodiment of the method according to claim 11 allows especially when The occurrence of disturbances on the radio transmission links and a concomitant impairment of the operational reliability of a diagnosis with regard to the possible causes and possible approaches to improve the transmission quality.
  • a check of the current connection quality can be made, and in the case of unfavorable conditions appropriate remedies or alternatives can be taken.
  • the method according to claim 12 allows not only the use of the manual control unit for operating tasks but also the temporary exclusive use for visualization or diagnostic purposes without taking immediate influence on the program-controlled process of the controlled technical device.
  • the operator is also not in the immediate physical sphere of influence of the controlled technical device, that is, for example, outside apatiumzäunung, so that there are no high-priority control or safety data to be transmitted.
  • a correspondingly confusion-proof and complex production of the first radio transmission path for example with verification of the spatial proximity or an existing visual contact with the controlled technical device or another authorization check, can therefore be dispensed with.
  • the embodiment according to claim 18 extends the scope of functions to the effect that the operator can not only query data directly from a specific machine and visualize it on the handheld terminal, but that other sources of information can be queried at any time. This is particularly advantageous for repair work or service work, if, for example, service manuals, operating instructions or design documents can be displayed directly. Also during set-up work on generating machines or the like required additional information, for example, about the respective job or the workpiece can be accessed and displayed by a central server.
  • the advantageous embodiment of the system according to claim 19 enables the optimal adaptation or selection of the parameters and operating characteristics of the respective radio transmission links to the requirements of the data to be transmitted.
  • certain advantageous additional functions of a particular radio standard such as a position determination in a network, can be combined with the advantages of another radio standard, such as a secure point-to-point connection.
  • the radio transmission path has only exactly two communication partners and thus a misdirection of data telegrams or the coupling of foreign data telegrams is prevented.
  • the system according to claim 21 is an advantageous development, in which particularly suitable and widely used and easily usable radio standards are used for the second radio transmission path.
  • the advantageous embodiment according to claim 22 allows easy access to different, spatially distributed data and information sources. Furthermore, it is possible to use a network that already exists at the place of deployment, including the connected information processing components, such as databases and secure Internet access.
  • a larger area despite relatively low transmission power of the individual radio access nodes can be reliably radio-lit become. Due to the lower transmission power required, several radio subscribers, in particular several handheld terminals, can be operated in the entire area and use the same frequency bands without disturbing each other. Furthermore, a longer battery life is made possible by the lower transmission power required in the handheld terminal.
  • a plurality of radio access nodes also enables the basic realization of a localization of a handheld terminal within the area with the radio access nodes.
  • the embodiment according to claim 25 allows the change of location with a mobile handheld device beyond the transmission and reception range of a single radio access node, without interrupting an existing data connection.
  • information about the current location is provided on the handheld terminal. This information can be used to provide other useful functions, in particular in connection with personal safety and certain special danger areas, or also in connection with automatic notification of fault messages, or for automatic logon or assignment to the nearest premises to the implementation of local alarms In-house navigation systems, for example, for service technicians for fault location, are used.
  • the embodiment of claim 28 increases the transmission reliability and usually also the achievable transmission bandwidths of the two radio transmission links used.
  • the frequency bands, time slots or transmission powers available for the communication according to the radio standards used can be optimally divided between the two radio transmission paths in accordance with the required bandwidth and priority.
  • the further object of the invention is achieved by the provision of a mobile handheld terminal according to claim 29.
  • the hand-held operating device according to the invention has, for the data technical connection to a machine control on a first and a technically separate second bidirectional radio interface.
  • the designation as bidirectional radio interfaces should be understood to mean that data telegrams or at least acknowledgment or synchronization telegrams are both transmitted and received via this interface, although this does not necessarily mean that it is actually possible to communicate simultaneously in both directions.
  • the data transmitted between the hand-held operating device and the machine control is transmitted via the second radio interface at high temporal priority or, in the case of real-time requirements, via the first and at low temporal priority.
  • the transmission of the high-priority data is not impaired by the simultaneous transmission of general, low-priority data.
  • the amount of data for the first radio transmission path can be limited very precisely, but there is a requirement for reliable data transmission while adhering to certain maximum transmission times. Due to the technically separated radio interfaces and radio links, these competing requirements need not be considered together in a radio protocol. In particular, no different priorities have to be taken into account in the radio protocols, or the mechanisms for priority control provided in the protocols are without significant influence on the reliable operation of the mobile handheld terminal.
  • the advantageous embodiment according to claim 30 enables optimized for the respective requirements of the two data classes operation and the selection of the optimal radio technology for both radio transmission links, so that the handheld device provides optimal performance and high operational reliability, which using only a single wireless standard not could be achieved.
  • the embodiment according to claim 31 enables a technically very simple realization of the handheld terminal according to the invention using commercially available radio modules. These modules are now extremely compact and inexpensive and are used commercially in very large numbers in a variety of applications and devices.
  • the sometimes very complex radio protocols are largely based on processors in the respective implemented gen modules and the connection approximately to the main processor of the manual control unit via technically relatively simple interfaces, so that the main processor is not excessively burdened by the radio transmission.
  • the advantageous embodiment according to claim 32 enables the particularly simple, optional equipment of the handheld terminal according to the invention with different radio standards, with all device-specific components remain unchanged. Likewise, radio modules from different manufacturers can also be used. On the one hand, this enables the cost-effective realization of variants with different radio standards and, on the other hand, the use of comparable products from different manufacturers
  • Wireless modules The latter is again favored by the fact that the priority of the distribution of data on the two radio transmission links, the radio protocols of the respective routes, the different priorities no longer need to be considered separately and only the basis functions of the respective standards must be used.
  • the embodiment of claim 33 increases the transmission reliability and usually also the achievable transmission bandwidths of the two radio transmission links.
  • available for the communication according to the radio standards used frequency bands time slots or transmission power corresponding to the required bandwidth and priority between the two radio transmission links optimally.
  • Due to the immediate spatial proximity of the two radio interfaces in the handheld terminal the risk of mutual interference during transmission due to the high field strengths in the near field of the antennas is also particularly great when the radio interface parts use different frequency bands.
  • the mutual interference can be significantly reduced and the operational reliability and transmission performance can be increased.
  • the advantageous embodiment according to claim 34 enables independent of a main processor detection and reliable transmission of the operating states of the safety switching elements to the machine control.
  • the embodiment according to claim 35 also allows the independent of the main processor Detection, evaluation and transmission of at least some of the existing actuators. This allows a particularly short transmission and response time for the immediate control commands.
  • the additional communication link according to the embodiment of claim 37 allows, for example, the transmission of certain high-priority data or commands from the main processor to the safety evaluation circuit for further transmission to the machine control via the first radio interface, or the access of the main processor to the detected operating states of the safety switching elements for the direct Processing in the application software.
  • the embodiment according to claim 38 enables the possibility of saving electrical energy, which is particularly important for a wirelessly data-coupled mobile handheld terminal, in those periods in which the computing power of the main processor is not or only minimally required. This extends the achievable with a single charge battery life, or can be used with a lower capacity battery, which in turn allows the saving of weight and volume.
  • the shutdown of the components can also be staggered over time.
  • the control mechanisms for switching off and reactivating the individual components can be distributed as an integral part of the respective components or else concentrated in a separately designed power management component.
  • the handheld terminal can also be used for access to the Internet or intranet.
  • web-based visualization applications can be implemented in the controller and the visualization data can then be transmitted and displayed directly as web data to the handheld terminal. This could be completely or largely dispensed with an application-specific software on the handheld terminal and would be the handheld without adaptation with different Interface-compatible machines and controllers can be used immediately.
  • the mobile handheld terminal can also be used for direct and inexpensive telecommunications via the Internet or intranet, especially in conjunction with a so-called headset, which can be either wired or wirelessly coupled via an interface with the handheld device ,
  • a so-called headset which can be either wired or wirelessly coupled via an interface with the handheld device .
  • a corresponding communication between several handheld devices and the respective operators can be made, for example, to be able to coordinate more complex and comprehensive operating tasks directly to each other.
  • a connection to a particular service point can be made.
  • the advantageous embodiment according to claim 41 enables the coupling of an exchangeable memory to the handheld terminal, for example, to transmit a software update in the machine control or to read and store operating data or log files from the controller.
  • the further object of the invention is also achieved by providing a programmable machine control according to claim 42.
  • the machine controller according to the invention provides a first and a second data interface designed to be technically independent for the common use for data transmission from and to a mobile handheld terminal.
  • the data interfaces can be formed either directly as radio interfaces or be provided with the interposition of further signal transmission paths for connection to corresponding radio interfaces.
  • the data to be transmitted is divided into a high-priority class and a low-temporal priority class, and the high-temporal-priority data is divided over the first data interface and the low-temporal priority data is transmitted over the second Transfer data interface.
  • the data having a higher temporal priority or real-time request can be transmitted largely uninfluenced by the data having a low temporal priority via the first data interface and the first radio transmission path, so that the reliability of the override is improved. Since no special consideration of any priorities is required within the class of data transmitted over one of the two radio transmission links, a wide variety of transmission standards can be used in a flexible manner both for the radio transmission links and for any other intermediate transmission paths.
  • the first radio transmission path has only exactly two communication partners and a misdirection of data telegrams or the coupling in of external data telegrams is prevented.
  • a radio transmission path according to the BlueTooth standard is particularly suitable for the production of such a point-to-point connection in the context of this invention.
  • the simple use of a powerful, often already existing information infrastructure is made possible for the data transmission via the second data interface, or via the second radio transmission path, through the use of a network connection.
  • the second data interface for the exchange of data with a variety of communication participants can be used, such as for connection to central control centers or for central operating data acquisition, error message or the like.
  • a wireless network according to the WLAN standard as part of such a network is particularly well within the scope of this invention, as this comparatively large data transmission bandwidths are provided for the transmission of extensive visualization data to a handheld terminal according to the invention.
  • the advantageous embodiment of the machine control according to claim 45 enables independent and secure from the main processor and its function verification and evaluation of the received safety information and the continuous monitoring of the intact state of the first radio transmission link to the docked handheld terminal.
  • the received safety data are evaluated accordingly and coupled into the safety circuit of the controlled technical device and thus, for example, the drive energy or drive enable is influenced directly.
  • the controllable technical device is stopped immediately by the safety receiving circuit via the safety circuit.
  • the advantageous embodiment of the machine control according to claim 46 allows rapid access or transmission of the current operating states of the safety switching elements and certain input means of the mobile handheld terminal to the main processor for the immediate processing and control of the technical device.
  • FIG. 1 shows a section of an industrial manufacturing system with a controllable, technical device as a possible application of the method and apparatus according to the invention
  • FIG. 1 shows by way of example an industrial production system 27 or a partial section or a processing station of such a production system 27 as a typical environment of use of the methods and devices according to the invention.
  • the manufacturing system 27 comprises a program-controlled technical device 6 in the manner of a Robot which is used for manipulating or machining a workpiece 7.
  • the workpiece 7 is located on a transport means 8 with which it can be transported in and out of the processing station or in a further, no longer shown processing station.
  • the working area of the robot 6, the so-called machining cell or robot cell 10 is surrounded by a protective fence 9 or a comparable enclosure, so that the robot cell 10 can normally only be entered through a protective door 11.
  • the closed state of the protective door 11 is monitored by means of a door contact 12. In normal fully automatic and program-controlled operation of the processing station, the protective door 11 is closed and no persons are allowed to stand within the robot cell 10.
  • the robot 6 is controlled by a programmable logic controller 3.
  • the machine control 3 is located somewhat distanced in the illustration outside the robot cell 10, but can of course also be arranged within the robot cell 10 or in the immediate vicinity of the robot 6.
  • the electric drives of the robot 6 are electrically supplied via converters or servo-controllers 76, which receive their positioning commands from the machine controller 3 via a corresponding communication link 75.
  • the illustration of an electrical power supply of the servo controller 76 as well as the electrical power supply of various other components has been omitted for reasons of clarity, since these are already well known to the person skilled in the art.
  • Various, not specifically illustrated further actuators and sensors on the robot 6 are connected via a plurality of control lines, the so-called control circuit 22, directly or occasionally also with the interposition of signal and energy converters also not shown with the machine control 3.
  • the robot cell 10 also has a so-called safety circuit 21, which may be designed as a safety-specific specially designed plurality of signal lines or occasionally as a special bus connection.
  • the purpose of the safety circuit 21 is the data or signal-technical connection of all safety-related facilities, as in the illustrated case of emergency stop switches 24, the door contact 12 but also the machine control 3 and especially the servo controller 76.
  • any one of the devices coupled to the safety circuit 21 signals an unsafe operating state, in particular a dangerous situation, for example when an emergency stop is actuated.
  • Switch 24 by a person are promptly and regardless of any control commands and the state of the machine control 3 all potentially dangerous movements and machine operations canceled, in particular by switching off the drive power for the drives of the robot 6 and the transport 8.
  • the processing cell is characterized in a safe condition transferred.
  • the term security in the context of this document is to be understood as the absence of danger to the life and limb of persons and, with certain limitations, also to property. On the other hand, it must be clearly distinguished from the reliability of a technical facility that is to be understood as meaning that the technical facility regularly performs satisfactorily the function expected of it.
  • this is equipped with a wireless data-bound handheld device 2.
  • this also has corresponding functions for the sophisticated visualization of operating states and other information concerning the robot 6, the machine control 3, the machined workpiece 7 or the manual control device 2.
  • safety switching elements in the manner of an emergency stop switch 25 and at least one, preferably two enabling buttons 26 are provided on the handheld terminal 2, which are signal-technically integrated during the teaching in the safety circuit 21 of the robot cell 10 and with which the operator 1 the execution poten- deliberately release potentially dangerous control commands and processes and can also terminate them technically reliably at any time.
  • a first radio transmission path 13 and a technically independent trained and concurrent radio transmission path 14 are provided.
  • the mobile handheld terminal 2 has a corresponding first and second radio interface 15 and 16.
  • the radio remote station 17 is provided, which is connected via a first data transmission link 71 directly to the machine control 3.
  • the first radio transmission path 13 is advantageously set up as a point-to-point connection.
  • radio remote stations in particular a plurality of access points 4 are provided, which in turn are coupled to the wired network connection 5 and the second anitatis- track 72 are also coupled with the machine control data.
  • the two radio transmission links 13 and 14 and the respective further linked transmission links and transmission elements are technically independent and independently usable, so that two independent and bidirectional transmission paths for data exchange between the mobile handheld device 2 and the machine control 3 are available.
  • the second radio transmission path 14 and optionally also linked transmission devices such as the network connection 5 of several other active participants, such as the wirelessly connected data device 79 or the wired communication subscriber 18, shared.
  • the handheld terminal 2 is also a communication with the other communication participants 18; 19; 79 of the network 5 possible, for example, voice communication via Internet telephony or a database query in a central database server 18.
  • voice communication via Internet telephony or a database query in a central database server 18.
  • Via corresponding coupling devices, such as the firewall 19, can also be accessed on other connected networks such as the Internet 20 or on a corresponding company-wide network ,
  • the hand-held operating device 2 has a plurality of different input means such as a keypad 31, a joystick 32 and a handwheel or potentiometer 33 for the input of control commands for immediate execution by a controlled technical device as well as for inputting data or switching operating states of the data-coupled Machine control 3 or the manual control unit 2 on.
  • the mobile hand-held device 2 further has a high-resolution, graphics-capable display 29 for the visual output of general information and operating data and the like.
  • the display 29 is structurally combined with a so-called touch screen 30, so that a flexible graphics-supported user guidance can be implemented.
  • the mobile handheld terminal 2 has a first safety evaluation circuit 48 and a second safety evaluation circuit 49.
  • These two safety evaluation circuits 48, 49 are in each case signal-coupled to the safety switching elements 25 and 26 and independently detect the actuation state of these safety switching elements.
  • the information about the respective operating states will be from both Security evaluation circuits 48, 49 are each independently coded in a suitable manner and provided with address and checking information.
  • the information captured and coded by the second safety evaluation circuit 49 is transmitted via the communication connection 57 to the first safety evaluation circuit 48 and from the latter via the communication connection 47 to the first radio interface 36 and further via the first radio transmission path 13 to the associated machine control 3 (FIG 1).
  • the operating states detected and coded in the first safety evaluation circuit 48 are transmitted to the machine control 3 either jointly or as separate data telegrams via the same communication link.
  • the coded information of both safety evaluation circuits 48, 49 in the machine control 3 becomes two correspondingly assigned safety reception circuits 50; 51 (FIG. 3) and evaluated there and correspondingly coupled into the safety circuit 21 (FIG. 3) of the controlled technical device.
  • the first and second safety evaluation circuits 48 and 49 are designed diversely with different technologies or components, so that in the case of a single fault in one of the two safety evaluation circuits 48 or 49 it is ensured that the same fault does not occur simultaneously in the other safety evaluation circuit 48, 49 and that at least one of the two circuits fully works.
  • approximately the first safety evaluation circuit 48 is designed as a programmed microcontroller and the second safety evaluation circuit 49 is designed as a permanently programmed logic module.
  • the input elements 31, 32 and 33 are likewise connected directly to the safety evaluation circuit 48 via corresponding signal lines 44, which also detects, codes and directly and without involvement of the main processor 34 via the first radio interface 13 to the machine control 3, the actuating states of these input elements (Fig. 3) transmits.
  • transmission takes place with a particularly short delay time so that precise programming and adjustment work on the controlled technical device is possible.
  • the mobile handheld terminal 2 also has a comparatively powerful computing unit 34 and a main memory 35, in which an operating system and a Application-specific software and, if necessary, other utilities such as an Internet browser or software for Internet telephony are stored and executed.
  • the arithmetic unit 34 is coupled to the second radio interface 37 via the radio module connection 46, so that the arithmetic unit 34 can communicate directly via the second radio transmission path 14.
  • a communication connection 56 is provided, via which the arithmetic unit 34 can access, in particular, the operating states of the input means 31, 32 and 33 and the safety switching elements 25 and 26 detected by the safety evaluation circuit 48, so that this information also can be processed accordingly in the application software.
  • the two radio interfaces 36 and 37 used are designed as integrated, intelligent modules which, in addition to the components for radio technology, also have an independent processor and memory means in which the sometimes very complex protocols of the respective radio standard are implemented by appropriate software means.
  • the modules can also have an integrated antenna.
  • the two radio interfaces used 36 and 37 are also designed as replaceable modules 38, so that they can be replaced by other, substantially identical modules with possibly other technical specifications or wireless standards. This allows a simple adaptation of the mobile handheld terminal 2, for example, for the use of an alternative radio standard and special requirements or already existing communication facilities or preferential solutions of an operator can be flexibly taken into account.
  • a synchronization connection 77 via which the intelligent radio modules 38 automatically exchange information for use for optimum attenuation of the mutual impairment.
  • the mobile handheld terminal 2 has an expansion interface 40 to which, for example, mobile storage media for the import or export of data or program Share or the like can be connected. Even functional extensions, which are only required at times, can be coupled to the handheld terminal 2.
  • the expansion interface 40 is designed for example as a standard USB interface. Other common interface standards, such as common and known in notebooks, are also suitable.
  • a corresponding energy storage in the manner of a battery 39 is provided.
  • the battery 39 may be formed, for example, interchangeable, so that an exhausted battery easily and without significant loss of time replaced and work with the handheld terminal 2 can be continued immediately.
  • a likewise not shown electrical connection or an electromagnetic coupling device for transmitting the energy for recharging the battery 39 may be provided.
  • the machine control 3 schematically shows the essential components and links of a preferred embodiment of a machine control 3 according to the invention.
  • the machine control 3 has a computing unit 53 and a main memory 52 for the execution of an operating system and / or a corresponding application software for the control of a controlled technical device 6 on.
  • the signal-technical coupling of the machine control 3 to the controlled technical device 6 (FIG. 1) or to its sensors and actuators takes place in part via a number of digital and / or analog signal inputs 63 and signal outputs 64, collectively referred to as the control circuit 22.
  • the machine controller 3 also has a serial bus interface 78, for example for the data-related coupling to a servo controller for controlling the drives of the controlled technical device 6 (FIG. 1).
  • the machine control system 3 also has a first safety receiving circuit 50 and a second safety receiving circuit 51 which receives the high-temporal data telegrams arriving via the first data interface 69 with the information about the actuation states of the safety switching elements 25, 26 on a coupled mobile handheld terminal 2 (FIG. 2) evaluate their validity and via a corresponding emergency stop circuit interface and an enabling switch interface in the safety circuit 21 of controlled technical device 6 (Fig. 1) einkoppeln.
  • Another essential function of these safety receiving circuits 50, 51 is the constant monitoring of an intact communication connection to the associated manual control unit 2 and thus to its safety switching elements 25, 26.
  • the continuously transmitted data telegrams with the current information on the operating states of the safety switching elements 25, 26 over a certain Period from or no valid data telegrams are received, the safety receiving circuits 50 and 51 respectively independently and independently the controlled technical device 6 (Fig. 1) in a safe operating state over.
  • the first and second security receiving circuits 50, 51 are coupled via the communication link 73, via which the data telegrams intended for the second security receiving circuit 51 are transmitted from the first data interface 69 via the first security receiving circuit 50.
  • the central processing unit 53 of the machine controller 3 is coupled via the communication link 61 to a second data interface 70, via which the class of the general data without special temporal priority, in particular the visualization data, is transmitted.
  • a communication connection 60 likewise exists between the central processing unit 53 and the first safety receiving circuit 50.
  • the computing unit 53 can use this connection to determine, for example, the current operating state of the safety switching elements 25, 26 of the associated handheld terminal 2 (FIG. 2). Furthermore, the central computing unit 53 can also determine the current actuation states of the further input means 31, 32, 33 of the associated mobile handheld terminal 2 (FIG. 2) via this communication connection 60.
  • radio remote 38 interchangeable radio module
  • processing cell 41 optional data connection

Abstract

L'invention concerne un procédé permettant de faire fonctionner une liaison de communication de données entre un appareil de commande manuel mobile sans fil (2) à couplage de données, et une commande de machine (3), au moyen d'au moins une première liaison radio bidirectionnelle (13) et d'au moins une seconde liaison radio bidirectionnelle (14), en grande partie concurrente, et techniquement séparée de la première liaison radio (13). L'appareil de commande manuel mobile (3) comprend au moins un élément de commutation de sécurité (25; 26), pour des procédés et des états de fonctionnement du dispositif technique commandé (6) potentiellement dangereux à terminaison fiable. L'appareil de commande manuel mobile (2) comprend en outre des moyens de sortie (29) servant à la sortie des informations. L'invention est caractérisée en ce que l'ensemble des données et informations de commande et de sécurité transmises, est subdivisé en une première classe de données à haute priorité temporelle, et une seconde classe de données à faible priorité temporelle, et en ce que les données de la première classe sont transmises, via la première liaison radio (13), et les données de la seconde classe sont transmises via la seconde liaison radio (14).
PCT/AT2007/000525 2006-11-28 2007-11-21 Procédé permettant de faire fonctionner une liaison de communication sans fil entre un appareil de commande manuel mobile et une commande de machine, et composants correspondants du système WO2008064381A2 (fr)

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DE112007002876T DE112007002876A5 (de) 2006-11-28 2007-11-21 Verfahren zum Betreiben einer drahtlosen Kommunikationsverbindung zwischen einem mobilen Handbediengerät und einer Maschinensteuerung sowie entsprechende Systemkomponenten

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AT19802006A AT504670B1 (de) 2006-11-28 2006-11-28 Verfahren zum betreiben einer drahtlosen kommunikationsverbindung zwischen einem mobilen handbediengerät und einer maschinensteuerung sowie entsprechende systemkomponenten

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CN111954822A (zh) * 2018-04-11 2020-11-17 通快机床两合公司 中间模块、接收器模块、监测系统和监测方法
CN113165179A (zh) * 2018-10-31 2021-07-23 Keba股份公司 用于运行机器控制系统的方法以及机器控制系统
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EP2003084A1 (fr) * 2007-06-01 2008-12-17 Angel Iglesias S.A. Émetteur de télécommande
CN105723731A (zh) * 2013-11-14 2016-06-29 三菱电机株式会社 远程操作系统、室内设备、中继装置、设备管理方法以及程序
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CN107340733A (zh) * 2016-04-30 2017-11-10 克洛纳测量技术有限公司 具有功能装置的电气设备
CN111406239A (zh) * 2017-06-01 2020-07-10 Keba股份公司 用于运行加工设备的方法和加工设备的构造
CN111954822A (zh) * 2018-04-11 2020-11-17 通快机床两合公司 中间模块、接收器模块、监测系统和监测方法
CN113165179A (zh) * 2018-10-31 2021-07-23 Keba股份公司 用于运行机器控制系统的方法以及机器控制系统
US11886163B2 (en) 2018-10-31 2024-01-30 Keba Industrial Automation Gmbh Method for operating a machine control system, and machine control system
CN113924191A (zh) * 2019-06-07 2022-01-11 库卡德国有限公司 自动保护通过移动操作装置控制的机器人系统运行的方法和系统
CN113924191B (zh) * 2019-06-07 2023-12-26 库卡德国有限公司 自动保护通过移动操作装置控制的机器人系统运行的方法和系统

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WO2008064381A8 (fr) 2008-08-28
AT504670A4 (de) 2008-07-15
WO2008064381A3 (fr) 2008-07-17
DE112007002876A5 (de) 2009-10-08
AT504670B1 (de) 2008-07-15

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